CN213657669U

CN213657669U - Intelligent robot target

Info

Publication number: CN213657669U
Application number: CN202021953220.3U
Authority: CN
Inventors: 张千伟; 凌云; 王聿彪
Original assignee: No 60 Institute of Headquarters of General Staff of PLA
Current assignee: No 60 Institute of Headquarters of General Staff of PLA
Priority date: 2020-09-09
Filing date: 2020-09-09
Publication date: 2021-07-09
Anticipated expiration: 2030-09-09

Abstract

The utility model discloses an intelligent robot target, which comprises a vehicle body, a multi-position plane target, a side turning mechanism, a reverse attack holder and a laser radar component, wherein a bottom substrate is arranged above the vehicle body, the bottom substrate is connected with the vehicle body through a spring suspension, the side turning mechanism is arranged on the bottom substrate and is connected with the multi-position plane target through a target clamp, and the reverse attack holder is positioned on the side surface of the vehicle body; the laser radar component is arranged on the upper surface of the vehicle body close to the edge and used for building a map. The utility model provides an indoor intelligent robot target can realize many tactics training formation, under indoor no GPS and UWB positioning system's environment, still can realize independently formation, independently keep away a series of intelligent training actions such as barrier, independent path planning.

Description

Intelligent robot target

Technical Field

The utility model relates to a shooting training equipment technical field, concretely relates to intelligent robot target.

Background

At present, the military and the police mostly adopt fixed targets or rail-mounted mobile targets in shooting training, the training mode and tasks have predictability, and products and systems which can meet the high-level requirements of simulated tactical training are rare. For example, the target surface of the robot target drone disclosed in chinese utility model patent CN210741262U can rotate and lift, and is adaptable to target shooting in various directions, but the disadvantage is also obvious, that is, part of the functions of the robot target drone must be realized under the condition of having navigation systems such as beidou system; like the reverse laser attack simulator disclosed in chinese utility model patent CN210180273U, the design of structure can realize the multi-angle adjustment in vertical direction and the rotation of 0 ~ 360 ° in horizontal direction, but has no improvement in the aspects of autonomous positioning, recognition and tracking target.

Disclosure of Invention

In order to overcome the defect among the above-mentioned prior art, the utility model provides an intelligent robot target based on small-size wheeled robot chassis, can carry many positions plane target and the reverse attack cloud platform that has the sideslip function, can simulate the action of the individual soldier's sideslip in the motion process and reverse attack action.

The utility model discloses a following technical scheme realizes: an intelligent robot target comprises a vehicle body, a multi-position plane target, a side turning mechanism, a reverse attack holder and a laser radar assembly, wherein a bottom substrate is arranged above the vehicle body, the bottom substrate is connected with the vehicle body in a suspension mode through a spring, the side turning mechanism is installed on the bottom substrate and is connected with the multi-position plane target through a target clamp, and the reverse attack holder is positioned on the side face of the vehicle body; the laser radar component is arranged on the upper surface of the vehicle body close to the edge and used for building a map.

Furthermore, two driving wheels and four shock attenuation universal wheels are located to the automobile body below, the driving wheel is located symmetrical both sides, by in-wheel motor drive.

Further, including in-wheel motor driver, communication radio station, direct current contactor, master control circuit board, data calculation module and battery in the automobile body, master control circuit board with in-wheel motor driver the communication radio station direct current contactor with the data calculation module electricity is connected, the battery provides the electric energy for other parts.

Further, the side-turning mechanism is used for controlling the vehicle body to move in any direction of 0-360 degrees and comprises a side-turning control plate, a speed reducer and a side-turning motor, wherein the side-turning control plate is electrically connected with the speed reducer and the side-turning motor respectively.

Further, the shell of the side turning mechanism is formed by welding bulletproof steel plates.

Furthermore, the hub motor and the side-turning motor are both low-voltage servo motors, are driven by a low-voltage servo driver, and are controlled by a CAN bus.

Further, the reverse attack holder comprises a base and a bulb, a steering engine, an image acquisition device, an infrared emitter and a laser emitter are arranged in the bulb, the image acquisition device is installed on the steering engine, the steering engine is respectively connected with the infrared emitter and the laser emitter, and the other part of the steering engine is located in the base and is connected with the steering engine in the bulb through a flange.

Furthermore, a plurality of intelligent robot targets are automatically formed into a team and planned to be a path under the environment without a positioning system.

The utility model has the advantages that:

1. the utility model discloses an indoor intelligent robot target can ensure the stationarity and the reliability of automobile body motion when bearing load. The utility model discloses chooseed for use one and dragged two in-wheel motor drive, when guaranteeing reliable control accuracy, satisfied lightweight design demand.

2. The utility model discloses a mechanism of turning to one side is to the miniaturized mechanism of turning to one side of moving platform design, and the outside is whole to adopt the shellproof steel sheet welding, satisfies specific shellproof demand. The motion motor of the side-turning mechanism is a servo motor, and can ensure the rapidity and the accuracy of the side-turning motion of the plane target plate by matching with a customized high-precision reducer.

3. The utility model discloses a reverse attack cloud platform based on image recognition technology, through simple compact motion, can realize the quick discernment and the tracking to the target, wherein infrared emitter and laser emitter hit the target on one's body after specific site, can cooperate other backpack simulation training equipment to produce specific acoustic optical signal, realize tactics training's system linkage.

4. The utility model provides an indoor intelligent robot target can realize many tactics training formation, under indoor no GPS and UWB positioning system's environment, still can realize independently formation, independently keep away a series of intelligent training actions such as barrier, independent path planning.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an appearance of an intelligent robot target according to an embodiment of the present invention, wherein (a) is a schematic structural diagram of a front side; (b) is a schematic diagram of a back structure;

FIG. 2 is a body chassis profile of the intelligent robot target;

FIG. 3 is a view showing the internal structure of the vehicle body chassis of the embodiment of FIG. 2;

FIG. 4 is a structural view of a side turning mechanism in the embodiment of FIG. 1;

FIG. 5 is a structural diagram of a reverse attack pan/tilt head in the embodiment of FIG. 1;

description of reference numerals:

1-car body, 2-reverse attack cloud platform, 3-many position plane target, 4-sidesway mechanism, 5-chassis base plate, 6-connector panel, 7-communication antenna, 2.2-communication interface, 2.3-laser radar subassembly, 3.1-damping universal wheel, 3.2-wheel motor, 3.3-data calculation module, 3.4-main control circuit board, 3.5-lithium battery, 3.6-direct current contactor, 3.7-communication radio station, 3.8-wheel motor driver, 4.1-sidesway mechanism shell, 4.2-target clip, 4.3-speed reducer, 4.4-sidesway motor, 4.5-sidesway control board, 5.1-cloud platform base, 5.2-bulb, 5.3-laser emitter, 5.4-camera, 5.5-steering wheel, 5.6-infrared emitter, 5.7-flange.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, the present embodiment provides an intelligent robot target, including automobile body 1, many position plane target 3, sidesway mechanism 4, reverse attack cloud platform 2, be equipped with a bottom base plate 5 above automobile body 1, through spring suspension connection between bottom base plate 5 and the automobile body 1, sidesway mechanism 4 installs on bottom base plate 5, passes through the target with many position plane target 3 and presss from both sides the connection, reverse attack cloud platform 2 is located the automobile body 1 side. The other side surfaces of the vehicle body 1 are also provided with connector panels 6, the vehicle body 1 can be provided with a charging port and a debugging interface through the connector panels 6, and other positions of the side surfaces of the vehicle body 1 can be provided with a power switch, an indicator light and the like; the bottom substrate 5 is provided with a communication antenna 7.

The spring suspension assembly between the bottom substrate 5 and the vehicle body 1 ensures the stability of the vehicle body when the vehicle body runs on an uneven road surface.

A laser radar assembly 2.3 is also provided on the upper surface of the vehicle body 1 and between the vehicle body 1 and the underlying substrate 5, as shown in fig. 2. Preferably, laser radar subassembly 2.3 is located the edge of automobile body 1 upper surface, can effectively reduce laser radar by the rate of sheltering from when rotatory scanning, integrality and accuracy when guaranteeing to construct the map in the intelligent robot target room. By accurately constructing a map by using the laser radar, the functions of autonomous navigation, autonomous path planning, autonomous formation and the like of the vehicle body platform under indoor GPS and UWB positioning can be realized.

The automobile body 1 is formed by the concatenation of aluminum alloy frame, and two drive wheels and four shock attenuation universal wheels 3.1 below the automobile body 1, the drive wheel is located the both sides of symmetry, is driven by in-wheel motor 3.2, and four shock attenuation universal wheels 3.1 are from the driving wheel, as shown in fig. 3. The vehicle body 1 can realize pivot steering through differential driving of the hub motor 3.2, so that the small and exquisite body shape and the flexible movement capability can meet the use requirements under the indoor narrow environment.

The vehicle body 1 comprises a hub motor driver 3.8, a communication radio station 3.7, a direct current contactor 3.6, a main control circuit board 3.4, a data calculation module 3.3 and a battery, in this embodiment, a lithium battery 3.5. Wherein main control circuit board 3.4 is connected with wheel hub motor driver 3.8, communication radio station 3.7, direct current contactor 3.6 and data calculation module 3.3 electricity, and lithium cell 3.5 provides the electric energy for other parts. The data calculation module 3.3 is mainly used for processing images collected by the camera 5.4 and issuing a following instruction to the steering engine 5.5.

The side turning mechanism 4 is installed above the vehicle body 1 as a load, and a shell of the side turning mechanism 4 is formed by splicing and welding bulletproof steel plates and can bear 25 m shooting of a 95-gun. As shown in fig. 4, the side-turn mechanism 4 includes a side-turn control plate 4.5, a speed reducer 4.3 and a side-turn motor 4.4, and the side-turn control plate 4.5 is electrically connected to the speed reducer 4.3 and the side-turn motor 4.4, respectively. The reduction gear 4.3 in the present exemplary embodiment is a worm gear reduction gear. The side turning mechanism 4 is driven by a side turning motor 4.4, and can realize 0-360 degree arbitrary position movement through the matching of a worm gear and worm reducer and a photoelectric switch, the side turning angular speed is 180 degrees/s, and a multi-part plane plate is arranged on a side turning target clamp through a knob handle and can simulate the target hitting of a head, a chest, a heart, an abdomen and other five parts for zone target reporting. The side turning mechanism 4 is small in size and is a miniaturized side turning mechanism designed for a mobile platform.

The automobile body in-wheel motor 3.2 and the side-rotating motor 4.4 in the embodiment are low-voltage servo motors, are provided with corresponding low-voltage servo drivers, CAN accurately control the running speed of the target car and the side-rotating motion of the target in multiple planes, and the drivers support CAN bus control, so that the motors are conveniently controlled.

The reverse attack cradle head 2 is installed at the front portion of the vehicle body 1, as shown in fig. 5, the reverse attack cradle head 2 comprises a cradle head base 5.1 and a ball head 5.2, a steering engine 5.5, an image acquisition device, an infrared emitter 5.6 and a laser emitter 5.3 are arranged in the ball head 5.2, the image acquisition device is a camera 5.4 generally and is installed on the steering engine 5.5, the steering engine 5.5 is connected with the infrared emitter 5.6 and the laser emitter 5.3 respectively, and the other part of the steering engine 5.5 is located in the base 5.1 and is connected with the steering engine part in the ball head 5.2 through a flange 5.7. Through the cooperation of camera 5.4 image recognition location, infrared emitter 5.6 and laser emitter 5.3, can realize following and the attack action of cloud platform bulb 5.2. The pitching and the rotation of the holder are respectively driven and controlled by two internal steering engines, and the maximum following angular speed is 90 degrees/s.

A plurality of the intelligent robot targets are automatically formed into a team and planned to a path under the environment without a positioning system.

The technical means disclosed by the scheme of the present invention is not limited to the technical means disclosed by the above embodiments, but also includes the technical scheme formed by the arbitrary combination of the above technical features.

Claims

1. An intelligent robot target is characterized by comprising a vehicle body, a multi-position plane target, a side turning mechanism, a reverse attack holder and a laser radar assembly, wherein a bottom substrate is arranged above the vehicle body, the bottom substrate is connected with the vehicle body in a suspension mode through a spring, the side turning mechanism is installed on the bottom substrate and is connected with the multi-position plane target through a target clamp, and the reverse attack holder is positioned on the side face of the vehicle body; the laser radar component is arranged on the upper surface of the vehicle body close to the edge and used for building a map.

2. The intelligent robot target of claim 1, wherein two driving wheels and four damping universal wheels are arranged below the vehicle body, and the driving wheels are symmetrically arranged on two sides and driven by a wheel hub motor.

3. The intelligent robot target of claim 2, wherein the vehicle body comprises a hub motor driver, a communication radio station, a direct current contactor, a main control circuit board, a data calculation module and a battery, the main control circuit board is electrically connected with the hub motor driver, the communication radio station, the direct current contactor and the data calculation module, and the battery provides electric energy for the hub motor driver, the communication radio station, the direct current contactor, the main control circuit board and the data calculation module.

4. The intelligent robot target of claim 2, wherein the side-turning mechanism is used for controlling the vehicle body to move in any direction of 0-360 degrees and comprises a side-turning control plate, a speed reducer and a side-turning motor, and the side-turning control plate is electrically connected with the speed reducer and the side-turning motor respectively.

5. The intelligent robot target of claim 1 or 2, wherein the housing of the yaw mechanism is made of a bullet-proof steel plate by tailor welding.

6. The intelligent robotic target of claim 4, wherein the hub motor and the side-turn motor are both low-voltage servo motors driven by low-voltage servo drivers, the hub motor and the side-turn motor being controlled via a CAN bus.

7. The intelligent robot target of claim 1, wherein the reverse attack pan/tilt head comprises a base and a ball head, a steering engine, an image acquisition device, an infrared emitter and a laser emitter are arranged in the ball head, the image acquisition device is mounted on the steering engine, the steering engine is respectively connected with the infrared emitter and the laser emitter, and the other part of the steering engine is located in the base and is connected with the steering engine in the ball head through a flange.

8. The intelligent robotic target of claim 1, wherein a plurality of the intelligent robotic targets are autonomously formed into a team and autonomously planned a path in a positioning system-free environment.